Newbie Needs Help With VPN Setup...

I'm new to networking and I need some help creating a VPN. I have googled this and came up with a lot of information but no tutorials that will take you from start to end of the process.
My setup includes
Actiontec GT701 - WG DSL Modem
Linksys WRT54G (first gen) with the latest HyperWRT firmware
Connected Via A Dynamic IP - I have already setup the DDNS options and have an account with dyndns.com
I have two systems connectet to the router and I need to connect via my laptop while I am away. I also need to configure Wake On Lan but I think I got that working. At this point the only thing I can do is access my modem's config via a external connection.

I could have done this but expiermenting with diffrent firmware types killed the router. The type that killed it was wifibox. I just got a new WRT54G from circuit city for fifty bucks. It's a version 5 so I can load any diffrent firmware versions into it...